A robotic eye and simulated robot

Abstract

The application relates to the field of robots, in particular to a robot eye and a simulation robot. The robot eye comprises an eyeball module and an eye mounting seat; the eyeball module is rotationally connected with the eye mounting seat through a first eyeball rotating part and a second eyeball rotating part; the first eyeball rotating part and the second eyeball rotating part are driven by an eye driving module and drive the eyeball module to rotate; the eyeball module comprises a split-type eyeball body and an eyeball support; the eyeball body is formed as a hollow hemisphere and is sequentially rotationally connected with the first eyeball rotating part and the second eyeball rotating part through the eyeball support; the eyeball support is formed as a ring, and the axis of the eyeball support fixed to the inner wall of the eyeball body passes through the center of the eyeball body; the eyeball support protruding from the eyeball body is provided with at least two connecting rings; the eye driving module comprises a pair of eyeball drivers connected with the first eyeball rotating part and the second eyeball rotating part; and any connecting ring is connected with the eyeball driver through a connecting rod with a hook part.

Description

Technical Field

[0001] This invention relates to the field of robotics, and more particularly to a robot eye and a humanoid robot. Background Technology

[0002] In the field of biomimetic robotics, the flexible movement of a robot's eyes is key to expressing its expressions and interactive capabilities. Existing methods for driving robot eyes typically involve directly connecting servo motors to spherical hinges, using the omnidirectional rotation of the hinges to achieve eye movement.

[0003] However, the spherical hinge itself is relatively large. When the eye needs to rotate significantly, the spherical part of the hinge will extend beyond the outline of the eyeball and interfere with the eye socket, eyebrows or other facial structures, thus limiting the rotation angle of the eyeball.

[0004] In addition, the drive mechanism of the ball hinge is usually large in size and occupies a lot of space behind the eyeball, which is not conducive to the compactness and lightweighting of the robot's overall facial layout. Summary of the Invention

[0005] The purpose of this invention is to provide a robotic eye and a simulated robot to solve the problem of limited rotation space caused by structural interference in the existing eye body connected by a ball hinge.

[0006] The technical solution of the present invention is: a robot eye, including an eyeball module and an eye mounting base; the eyeball module is rotatably connected to the eye mounting base through a first eyeball rotating component and a second eyeball rotating component, and the first eyeball rotating component and the second eyeball rotating component are driven by an eye driving module and drive the eyeball module to rotate; The eyeball module includes a split eyeball body and an eyeball support; the eyeball body is formed as a hollow hemisphere and is rotatably connected to a first eyeball rotating component and a second eyeball rotating component in sequence through the eyeball support; the eyeball support is formed as a ring and the axis of the eyeball support, which is fixed to the inner wall of the eyeball body, passes through the center of the eyeball body. The eyeball support protrudes from the eyeball body and is provided with at least two connecting rings. The eye drive module includes a pair of eyeball actuators connected to the first eyeball rotating component and the second eyeball rotating component. Any of the connecting rings is connected to the eyeball actuators by a connecting rod with a hook.

[0007] Preferably, the plurality of connecting rings extend toward a direction away from the eyeball body; the hook is formed by bending the end of the connecting rod, and the inner wall of the hook is formed as a continuous arc-shaped contact surface that can contact the connecting ring, and abuts against different positions of the inner wall of the hook when the eyeball body is at different tilt angles.

[0008] Preferably, the first eyeball rotating member is arranged along the first direction, and its two ends are rotatably connected to the eyeball support, so that the eyeball support can rotate around the axis of the first eyeball rotating member; The second eyeball rotating component is positioned perpendicular to the first eyeball rotating component, with one end fixed to the eye mounting base and the other end rotatably connected to the center position of the first eyeball rotating component.

[0009] Preferably, multiple eyeball actuators are arranged in parallel on the eye mounting base, and each eyeball actuator has a swing arm that rotates about a vertical axis. The end of the swing arm away from the axis is rotatably connected to a rotating column in the vertical direction, and the rotating column is fixed to the end of the connecting rod away from the eyeball module.

[0010] Preferably, it also includes an eyelid module, the eyelid module including an eyelid body; the eyelid body covers the outer wall of the eyeball body and is connected to an eyelid connector; One end of the eyelid connector is fixed to the eye mounting base, and the other end is rotatably connected to the eyelid body, so that the eyelid body can rotate around a horizontal axis passing through the center of the eyeball body under the drive of the eyelid actuator.

[0011] A humanoid robot, employing the robotic eyes described above, includes: An eyebrow section, located above the eye, includes an eyebrow module and an eyebrow mounting base; the eyebrow module includes an eyebrow body, an eyebrow driver, and an eyebrow connecting rod; the eyebrow body is connected to the eyebrow driver via the eyebrow connecting rod. The mouth is located below the eyes and has a palate mounting base, on which an upper lip module and a corner mouth module are provided; The chin, located below the mouth, includes a jaw mount, on which a lower lip module is provided, and the jaw mount and the upper jaw mount are movably engaged.

[0012] Preferably, the eyebrow mount, eye mount, and upper jaw mount are all detachably connected by an adjusting member arranged in the vertical direction; the distance between the eyebrow and eye, or between the eye and mouth, can be adjusted by replacing the adjusting member.

[0013] Preferably, the eyebrow body is provided with a first hinge point and a second hinge point; the eyebrow connecting rod includes a first connecting rod and a second connecting rod; one end of the first connecting rod is connected to the eyebrow driver, the middle part is hinged to the eyebrow mounting seat, and the other end is connected to the first hinge point; the two ends of the second connecting rod are respectively hinged to the eyebrow mounting seat and the eyebrow body.

[0014] Preferably, the eyebrow body has a connecting part and an action execution part; the first hinge point and the second hinge point are both disposed on the connecting part, and the action execution part forms an angle with the connecting part; The first link has a first portion and a second portion that is bent relative to the first portion; the two ends of the first portion are hinged to the eyebrow body and the eyebrow mounting base, respectively; the second portion is hinged to the eyebrow actuator; the first portion is parallel to the second link and has the same length.

[0015] Preferably, the lower jaw mounting base and the upper jaw mounting base are connected by a rotating shaft arranged along a first direction; the lower jaw mounting base is connected to a lower jaw driving mechanism, which includes a first lower jaw driver and a second lower jaw driver. The first jaw actuator is used to drive the jaw mount to pitch around the pivot; the second jaw actuator is fixed on the jaw mount and has an actuating end perpendicular to the plane of the jaw mount. The actuating end is connected to the pivot, so that the jaw mount can yaw relative to the upper jaw mount.

[0016] Compared with the prior art, the advantages of the present invention are: (1) This application replaces the traditional spherical hinge with an annular eyeball support fixed to the inner wall of the eyeball body and a protruding connecting ring. The drive mechanism is distributed outside the eyeball body, and the inside of the eyeball body remains hollow, which greatly reduces the structural size. When the eyeball rotates significantly, the protruding sphere without a spherical hinge occupies space, effectively avoiding interference with the surrounding structures such as the eye socket and eyebrows, and increasing the rotation angle of the eyeball.

[0017] (2) The hook at the end of the connecting rod is bent into a circle, and the connecting ring abuts against the inner wall of the hook. When the eyeball body is at different tilt angles, the abutting position of the connecting ring on the inner wall of the hook changes adaptively. Attached Figure Description

[0018] The present invention will be further described below with reference to the accompanying drawings and embodiments: Figure 1 This is a first-view structural diagram of the simulation robot described in this invention; Figure 2 This is a top view of the eye as described in this invention; Figure 3 This is a three-dimensional view of the eye as described in this invention; Figure 4 This is a structural diagram of the eyeball module described in this invention; Figure 5 This is an exploded view of the eyeball module described in this invention; Figure 6 This is a diagram of the eyebrow structure described in this invention; Figure 7 This is a second-view structural diagram of the simulation robot described in this invention, showing the mouth and chin; The components include: 1. Eyeball module; 11. Eyeball body; 12. Eyeball support; 121. Connecting ring; 13. Connecting rod; 131. Hook; 2. Eye mounting base; 3. First eyeball rotating component; 4. Second eyeball rotating component; 5. Eye drive module; 51. Eyeball actuator; 52. Swing arm; 53. Rotating column; 6. Eyelid module; 61. Eyelid body; 62. Eyelid connector; 63. Eyelid actuator; 7. Eyebrow; 71. Eyebrow mounting base; 72. Eyebrow body; 721. 722 First hinge point, 723 Second hinge point, 724 Connecting part, 725 Action execution part, 73 Eyebrow actuator, 74 First link, 741 First part, 742 Second part, 75 Second link, 8 Mouth, 81 Upper jaw mount, 82 Upper lip module, 83 Corner of mouth module, 9 Chin, 91 Lower jaw mount, 92 Lower lip module, 93 Rotating shaft, 94 First lower jaw actuator, 95 Second lower jaw actuator, 10 Adjustment component. Detailed Implementation

[0019] The present invention will be further described in detail below with reference to specific embodiments.

[0020] Example 1

[0021] like Figures 1-5 As shown, a robot eye includes an eyeball module 1 and an eye mounting base 2.

[0022] The eye mount 2 is configured as a flat plate structure to provide support for the eye module 1 and connect it to the skeleton or shell of the robot head.

[0023] The eye module 1 is rotatably connected to the eye mounting base 2 via a first eye rotating component 3 and a second eye rotating component 4. The first eye rotating component 3 and the second eye rotating component 4 respectively provide the eye module 1 with rotational degrees of freedom around different axes, enabling the eye module 1 to rotate in multiple directions in space. The first eye rotating component 3 and the second eye rotating component 4 are driven by the eye driving module 5, which in turn drives the eye module 1 to rotate.

[0024] The eye module 1 includes an eye body 11 and an eye support 12. The eye body 11 is the visible part of the robot's eye, and is formed as a hollow hemisphere. Its outer surface can be provided with biomimetic textures or pupil patterns.

[0025] The eyeball support 12 and the eyeball body 11 are separate components. The eyeball support 12 is ring-shaped and fixed to the inner wall of the eyeball body 11. In this embodiment, the eyeball body 11 is not directly connected to the first eyeball rotating member 3 or the second eyeball rotating member 4, but is indirectly connected to the first eyeball rotating member 3 or the second eyeball rotating member 4 through the eyeball support 12. This arrangement allows the eyeball body 11 to rotate in close contact with the first eyeball rotating member 3 or the second eyeball rotating member 4 instead of the eyeball body 11, thus avoiding frictional wear on the eyeball body 11. Furthermore, the eyeball support 12 also provides support for the eyeball body 11, improving its structural strength.

[0026] The eyeball support 12 is rotatably connected to the first eyeball rotating component 3 and the second eyeball rotating component 4 in sequence. Specifically, the eyeball support 12 has a pair of hinge holes for hinged connection at both ends of the first eyeball rotating component 3. When the eyeball support 12 and the eyeball body 11 are in the installed state, the axis of the pair of hinge holes passes through the center point of the eyeball body 11, so that the eyeball body 11 can rotate around the axis of the first eyeball rotating component 3, and the first eyeball rotating component 3 can rotate around the axis of the second eyeball rotating component 4, thereby realizing the three-dimensional spatial rotation of the eyeball module 1.

[0027] The eyeball support 12 protrudes from the eyeball body 11 and is provided with at least two connecting rings 121. The connecting rings 121 are formed as annular lugs, extending outward from the outer edge of the eyeball support 12. The eye drive module 5 includes a pair of eyeball actuators 51 connected to the first eyeball rotating member 3 and the second eyeball rotating member 4. In this embodiment, the eyeball actuators 51 are servo motors. Any connecting ring 121 is connected to the eyeball actuator 51 by a connecting rod 13 having a hook 131. One end of the connecting rod 13 is connected to the eyeball actuator 51, and the hook 131 at the other end cooperates with the connecting ring 121 to transmit the driving force of the eyeball actuator 51 to the eyeball support 12, thereby driving the entire eyeball module 1 to rotate.

[0028] The hook portion 131 is bent into a circle, and its inner wall has an arc-shaped curved surface. A connecting ring 121 inserts into the hook portion 131 and abuts against its inner wall. When installed with the eyeball body 11, multiple connecting rings 121 extend away from the eyeball body 11, allowing the engagement position of the hook portion 131 and the connecting ring 121 to be away from the eyeball body 11. This prevents interference between the eyeball body 11 and the hook portion 131 when the eyeball actuator 51 deflects at a large angle. As the eyeball body 11 is at different tilt angles, the contact point of the connecting ring 121 on the inner wall of the hook portion 131 changes accordingly, abutting at different positions on the inner wall of the hook portion 131. The circular inner wall of the hook portion 131 provides a continuous arc-shaped contact surface for the connecting ring 121, ensuring that the connecting ring 121 remains in close contact with the inner wall of the hook portion 131 regardless of the angle to which the eyeball rotates.

[0029] The first eyeball rotating member 3 is a rod-shaped structure arranged along a first direction, with both ends rotatably connected to the eyeball support 12, allowing the eyeball support 12 to rotate around the axis of the first eyeball rotating member 3. In this embodiment, the first direction is the horizontal direction, and the first eyeball rotating member 3 is used to provide the eyeball module 1 with a degree of freedom for pitch movement.

[0030] The second eyeball rotator 4 is positioned perpendicular to the first eyeball rotator 3. The second eyeball rotator 4 is Y-shaped, with its tail end fixed to the eye mounting base 2 and its head rotating and rotatably connected to the center of the first eyeball rotator 3. The axis of the rotating end is orthogonal to the axis of the first eyeball rotator 3, forming a universal joint-like rotation structure, providing the eyeball module 1 with yaw freedom around the vertical axis. The intersection of the axes of the first eyeball rotator 3 and the second eyeball rotator 4 is located at the center of the eyeball body 11, ensuring that the eyeball always rotates around its center during movement, resulting in smooth and natural motion.

[0031] Multiple eye actuators 51 are arranged in parallel on the eye mounting base 2. This parallel arrangement makes the structure of the multiple eye actuators 51 compact and easy to integrate within the limited space of the eye mounting base 2. Each eye actuator 51 has a swing arm 52 that rotates about a vertical axis. One end of the swing arm 52 is connected to the output shaft of the eye actuator 51 and can swing in the horizontal plane about the vertical axis. The end of the swing arm 52 away from the axis is rotatably connected to a rotating column 53 in the vertical direction. The axis of the rotating column 53 is set in the vertical direction. The rotating column 53 is fixed to the end of the connecting rod 13 away from the eye module 1.

[0032] When the eyeball actuator 51 drives the swing arm 52 to swing around the vertical axis, the rotating column 53 at the end of the swing arm 52 moves along an arc trajectory, driving the connecting rod 13 to perform a push-pull motion. The connecting rod 13 transmits power to the eyeball support 12 through the cooperation of the hook 131 and the connecting ring 121, realizing the rotation of the eyeball module 1. This combination structure of the swing arm 52 and the rotating column 53 converts the rotational motion of the servo motor into the linear push-pull motion of the connecting rod 13.

[0033] In addition, the eye area also includes an eyelid module 6, which has a pair of eyelid bodies 61. The pair of eyelid bodies 61 correspond to the upper and lower sides of the eyeball body 11, respectively, and cover the outer wall of the eyeball body 11. The eyelid bodies 61 are connected to eyelid connectors 62. One end of the eyelid connector 62 is fixed to the eye mounting base 2, and the other end is rotatably connected to the eyelid body 61. The eyelid body 61 can rotate around a horizontal axis passing through the center of the eyeball body 11 under the drive of the eyelid actuator 63, realizing the opening and closing action of the eyelid. In this embodiment, the structure of the eyelid actuator 63 is similar to that of the eyeball actuator 51, both of which use servo motors. The eyelid actuators 63 are set in pairs, so as to correspond to the pair of eyelid bodies 61. Each eyelid actuator 63 drives only one eyelid body 61 to move through the linkage, so that the actions between the pair of eyelid bodies 61 can be decoupled, thereby realizing a richer range of eye expressions.

[0034] Example 2

[0035] like Figure 1 , Figure 6 and Figure 7 As shown, this application also provides a humanoid robot with the robot eyes described above. The humanoid robot also includes eyebrows 7, a mouth 8, and a chin 9. The eyebrows 7 are positioned above the eyes, the mouth 8 is positioned below the eyes, and the chin 9 is positioned below the mouth 8, forming a complete human facial layout.

[0036] The eyebrow part 7 has an eyebrow module and an eyebrow mounting base 71. The eyebrow module includes an eyebrow body 72, an eyebrow driver 73, and an eyebrow connecting rod. The eyebrow body 72 is connected to the eyebrow driver 73 through the eyebrow connecting rod. The eyebrow driver 73 drives the eyebrow connecting rod to move, and the eyebrow connecting rod drives the eyebrow body 72 to perform actions such as raising and frowning eyebrows.

[0037] The mouth part 8 has a palate mount 81. The palate mount 81 is provided with an upper lip module 82 and a corner of the mouth module 83. The upper lip module 82 is used to simulate the movement of the upper lip, and the corner of the mouth module 83 is used to simulate the raising or lowering of the corners of the mouth.

[0038] The chin 9 includes a jaw mount 91. A lower lip module 92 is provided on the jaw mount 91, which is used to simulate the movement of the lower lip. The jaw mount 91 and the maxillary mount 81 are movable together, so that the chin 9 can open and close relative to the mouth 8 to simulate speaking or chewing.

[0039] The eyebrow mount 71 and the eye mount 2, as well as the eye mount 2 and the upper jaw mount 81, are detachably connected by adjusting members 10 arranged vertically. The adjusting member 10 can be a pad or a screw post of different heights. By replacing the adjusting member 10 with different specifications, the distance between the eyebrow 7 and the eye, or the distance between the eye and the mouth 8, can be adjusted to adapt to different robot design or facial proportion requirements.

[0040] Specifically, the eyebrow body 72 is provided with a first hinge point 721 and a second hinge point 722. The first hinge point 721 and the second hinge point 722 are arranged at intervals on the eyebrow body 72. The eyebrow linkage includes a first link 74 and a second link 75. One end of the first link 74 is connected to the eyebrow actuator 73, the middle part is hinged to the eyebrow mounting base 71, and the other end is connected to the first hinge point 721. The two ends of the second link 75 are respectively hinged to the eyebrow mounting base 71 and the eyebrow body 72. The first link 74 and the second link 75 constitute a linkage mechanism. When the eyebrow actuator 73 drives one end of the first link 74 to move, the first link 74 swings around its hinge point with the eyebrow mounting base 71, pushing the eyebrow body 72 to move through the first hinge point 721. At the same time, the second link 75 constrains the movement trajectory of the eyebrow body 72, so that the eyebrow body 72 can move according to a preset curved path to achieve a realistic eyebrow expression.

[0041] Furthermore, the eyebrow body 72 has a connecting portion 723 and an action execution portion 724. A first hinge point 721 and a second hinge point 722 are both located on the connecting portion 723. The action execution portion 724 connects to the visible portion of the eyebrow body 72, representing the shape of the eyebrow. The action execution portion 724 forms an angle with the connecting portion 723. This angle allows the action execution portion 724 to tilt upwards or downwards relative to the connecting portion 723, conforming to the natural curve of a human eyebrow, making the eyebrow's posture changes more realistic during movement.

[0042] The first link 74 has a first portion 741 and a second portion 742 that is bent relative to the first portion 741. The first portion 741 and the second portion 742 form an angle rather than extending in a straight line. The two ends of the first portion 741 are respectively hinged to the eyebrow body 72 through a first hinge point 721 and an eyebrow mounting base 71, that is, the first portion 741 is connected between the eyebrow body 72 and the eyebrow mounting base 71. One end of the second portion 742 is connected to the first portion 741, and the other end is hinged to the eyebrow driver 73, receiving the drive input from the eyebrow driver 73.

[0043] In a preferred embodiment of this application, the first part 741 is parallel to and has the same length as the second link 75. The first part 741, the second link 75, the line connecting the two hinge points on the eyebrow mounting base 71, and the line connecting the first hinge point 721 and the second hinge point 722 on the eyebrow body 72 together constitute a parallelogram linkage mechanism. When the eyebrow actuator 73 drives the second part 742 to move, the first part 741 swings around its hinge point on the eyebrow mounting base 71. Due to the motion characteristics of the parallelogram, the action execution part 724 on the eyebrow body 72 always maintains translation without additional deflection during the movement, thereby making the expression more natural and smooth.

[0044] The lower jaw mount 91 and the upper jaw mount 81 are connected by a pivot 93 arranged in a first direction. The first direction is generally horizontal, and the pivot 93 provides the lower jaw mount 91 with a rotation center for pitch movement. The lower jaw mount 91 is connected to a lower jaw drive mechanism, which includes a first lower jaw actuator 94 and a second lower jaw actuator 95.

[0045] The first jaw actuator 94 drives the jaw mount 91 to pitch around the pivot 93, thus driving the chin 9 to open and close around the pivot 93, simulating the opening and closing of the mouth. The second jaw actuator 95 is fixed to the jaw mount 91, with its actuator positioned perpendicular to the plane of the jaw mount 91. The actuator of the second jaw actuator 95 is connected to the pivot 93. When the second jaw actuator 95 is activated, its actuator is displaced relative to the pivot 93. Since the pivot 93 is connected to the upper jaw mount 81, the reaction force pushes the jaw mount 91 to yaw around a vertical axis relative to the upper jaw mount 81, thus allowing the chin 9 to shift left and right, simulating the lateral movement of the mandible.

[0046] The above embodiments are merely illustrative of the technical concept and features of the present invention, intended to enable those skilled in the art to understand the content of the present invention and implement it accordingly, and should not be construed as limiting the scope of protection of the present invention. It will be apparent to those skilled in the art that the present invention is not limited to the details of the above exemplary embodiments, and that the present invention can be implemented in other specific forms without departing from the spirit or essential characteristics of the present invention. Therefore, the embodiments should be considered exemplary and non-limiting in all respects. The scope of the present invention is defined by the appended claims rather than the foregoing description, and thus all changes falling within the meaning and scope of the equivalents of the claims are intended to be included within the present invention.

Claims

1. A robotic eye, characterized in that, It includes an eyeball module (1) and an eye mounting base (2); the eyeball module (1) is rotatably connected to the eye mounting base (2) through a first eyeball rotating component (3) and a second eyeball rotating component (4), and the first eyeball rotating component (3) and the second eyeball rotating component (4) are driven by the eye driving module (5) and drive the eyeball module (1) to rotate; The eyeball module (1) includes a split eyeball body (11) and an eyeball support (12); the eyeball body (11) is formed as a hollow hemisphere and is sequentially rotatably connected to the first eyeball rotating component (3) and the second eyeball rotating component (4) through the eyeball support (12); the eyeball support (12) is formed as a ring and the axis of the eyeball support (12) fixed to the inner wall of the eyeball body (11) passes through the center of the eyeball body (11); The eye support (12) protrudes from the eyeball body (11) and is provided with at least two connecting rings (121). The eye drive module (5) includes a pair of eyeball actuators (51) connected to the first eyeball rotating member (3) and the second eyeball rotating member (4). Any of the connecting rings (121) and the eyeball actuators (51) are connected by a connecting rod (13) with a hook (131).

2. The robotic eye according to claim 1, characterized in that, Multiple connecting rings (121) extend toward the direction away from the eyeball body (11); the hook (131) is formed by bending the end of the connecting rod (13), and the inner wall of the hook (131) is formed as a continuous arcuate contact surface that can contact the connecting ring (121), and abuts against the inner wall of the hook (131) at different positions when the eyeball body (11) is at different tilt angles.

3. The robot eye according to claim 2, characterized in that; The first eyeball rotating component (3) is arranged along the first direction and its two ends are rotatably connected to the eyeball support (12), so that the eyeball support (12) can rotate around the axis of the first eyeball rotating component (3); The second eyeball rotating component (4) is set perpendicular to the first eyeball rotating component (3), and one end is fixed to the eye mounting base (2), while the other end is rotatably connected to the center position of the first eyeball rotating component (3).

4. The robotic eye according to claim 3, characterized in that, Multiple eyeball actuators (51) are arranged in parallel on the eye mounting base (2). Each eyeball actuator (51) has a swing arm (52) that rotates around a vertical axis. The end of the swing arm (52) away from the axis is rotatably connected to a rotating column (53) in the vertical direction. The rotating column (53) is fixed to the end of the connecting rod (13) away from the eyeball module (1).

5. A robotic eye according to claim 1, characterized in that, It also includes an eyelid module (6), which includes an eyelid body (61); the eyelid body (61) covers the outer wall of the eyeball body (11) and is connected to an eyelid connector (62). One end of the eyelid connector (62) is fixed to the eye mounting base (2), and the other end is rotatably connected to the eyelid body (61), so that the eyelid body (61) can rotate around a horizontal axis passing through the center of the eyeball body (11) under the drive of the eyelid actuator (63).

6. A simulation robot, employing the robot eye as described in any one of claims 1-5, characterized in that, include: An eyebrow section (7) is located above the eye and has an eyebrow module and an eyebrow mounting base (71); the eyebrow module includes an eyebrow body (72), an eyebrow driver (73), and an eyebrow connecting rod; the eyebrow body (72) is connected to the eyebrow driver (73) via the eyebrow connecting rod; The mouth (8) is located below the eyes and has a palate mounting base (81). The palate mounting base (81) is provided with an upper lip module (82) and a corner of the mouth module (83). The chin (9) is located below the mouth (8) and includes a jaw mount (91). The jaw mount (91) is provided with a lower lip module (92), and the jaw mount (91) and the upper jaw mount (81) are movablely engaged.

7. A simulated robot according to claim 6, characterized in that, The eyebrow mount (71), eye mount (2), and upper jaw mount (81) are detachably connected by an adjusting member (10) arranged in the vertical direction; the distance between the eyebrow (7) and the eye, or between the eye and the mouth (8), can be adjusted by replacing the adjusting member (10).

8. A simulation robot according to claim 6, characterized in that, The eyebrow body (72) is provided with a first hinge point (721) and a second hinge point (722); the eyebrow connecting rod includes a first connecting rod (74) and a second connecting rod (75); one end of the first connecting rod (74) is connected to the eyebrow driver (73), the middle part is hinged to the eyebrow mounting base (71), and the other end is connected to the first hinge point (721); the two ends of the second connecting rod (75) are respectively hinged to the eyebrow mounting base (71) and the eyebrow body (72).

9. A simulation robot according to claim 8, characterized in that, The eyebrow body (72) has a connecting part (723) and an action execution part (724); the first hinge point (721) and the second hinge point (722) are both disposed on the connecting part (723), and the action execution part (724) forms an angle with the connecting part (723); The first link (74) has a first portion (741) and a second portion (742) bent relative to the first portion (741); the two ends of the first portion (741) are hinged to the eyebrow body (72) and the eyebrow mounting base (71) respectively; the second portion (742) is hinged to the eyebrow driver (73); the first portion (741) is parallel to the second link (75) and has the same length.

10. A simulation robot according to claim 6, characterized in that, The lower jaw mounting base (91) and the upper jaw mounting base (81) are connected by a pivot (93) arranged in a first direction; the lower jaw mounting base (91) is connected to a lower jaw driving mechanism, which includes a first lower jaw driver (94) and a second lower jaw driver (95). The first jaw actuator (94) is used to drive the jaw mount (91) to pitch around the pivot (93); the second jaw actuator (95) is fixed on the jaw mount (91) and has an actuating end perpendicular to the plane of the jaw mount (91), the actuating end being connected to the pivot (93) so that the jaw mount (91) can yaw relative to the upper jaw mount (81).

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